WO2020195128A1 - 物体検出システム、搬送台車及び物体検出装置 - Google Patents

物体検出システム、搬送台車及び物体検出装置 Download PDF

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Publication number
WO2020195128A1
WO2020195128A1 PCT/JP2020/003138 JP2020003138W WO2020195128A1 WO 2020195128 A1 WO2020195128 A1 WO 2020195128A1 JP 2020003138 W JP2020003138 W JP 2020003138W WO 2020195128 A1 WO2020195128 A1 WO 2020195128A1
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WO
WIPO (PCT)
Prior art keywords
circuit
mode
object detection
signal output
monitoring
Prior art date
Application number
PCT/JP2020/003138
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
夏生 ▲高▼川
山本　明人
隆弘 笠原
Original Assignee
北陽電機株式会社
株式会社ダイフク
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北陽電機株式会社, 株式会社ダイフク filed Critical 北陽電機株式会社
Priority to KR1020217030119A priority Critical patent/KR102853647B1/ko
Priority to CN202080021577.4A priority patent/CN113597588B/zh
Priority to US17/440,810 priority patent/US12298407B2/en
Priority to EP20778989.2A priority patent/EP3979030A4/en
Publication of WO2020195128A1 publication Critical patent/WO2020195128A1/ja

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions

Definitions

  • the present invention relates to an object detection system, a transport carriage, and an object detection device.
  • STV Sorting Transfer Vehicle
  • the track connecting the stations is composed of not only a straight track but also a curved track, and the transport trolley traveling along such a track collides with a foreign object in the vicinity of the track or becomes a preceding transport trolley.
  • An object detection device is attached to the front end side of each transport carriage so as not to collide.
  • Patent Document 1 discloses an obstacle detection sensor for an automatic guided vehicle that can change the detection area of an object according to a traveling position.
  • the obstacle detection sensor is attached to an unmanned carrier, and is a non-contact type distance measuring device that measures the distance to a detection object for each predetermined angle range that is radially divided around the obstacle, and the distance measuring device.
  • a detection area registration means for registering a plurality of patterns of detection areas partitioned by a line connecting a plurality of designated boundary points in the measurement range, and a plurality of detections registered in the detection area registration means for each traveling section of an unmanned carrier.
  • the distance to the detection object measured by the distance measuring device for each predetermined angle range while the unmanned carrier is traveling and the usage pattern setting means for selecting and setting the pattern to be used from the area patterns are currently present. It is provided with a determination means for generating an obstacle detection output when it is within the range of the detection area set in the traveling section of.
  • Patent Document 2 discloses an example of an object detection device mounted on an automatic guided vehicle OHT (Overhead Hoist Transfer).
  • the object detection device is used in order to avoid a collision with a preceding automatic guided vehicle while avoiding erroneous detection due to reflected light from the walls of various manufacturing facilities arranged near the track arranged on the ceiling.
  • An object detection device such as a scanning ranging device is installed on the front end side of the automatic guided vehicle behind, and a retroreflective member is provided on the rear end side of the preceding automatic guided vehicle.
  • the object since the detection area of the object can be changed along the traveling path of the automatic guided vehicle, the object can be flexibly detected according to the traveling path. Will be.
  • the object detection device described in Patent Document 2 does not have any foreign matter that may collide with each other in the vicinity of the track arranged on the ceiling, and its purpose is exclusively to avoid collisions between OHT automatic guided vehicles. Therefore, it was sufficient if it was possible to avoid erroneous detection due to reflected light from the wall surfaces of various manufacturing facilities arranged in the vicinity of the track.
  • an object of the present invention is an object detection system, a transport trolley, and an object capable of appropriately detecting a foreign substance while avoiding erroneous detection of a safety fence or equipment without narrowing the detection range.
  • the point is to provide a detection device.
  • the first characteristic configuration of the object detection system is an object configured to include a transport carriage provided with a traveling mechanism that travels along a predetermined track, and an object detection device mounted on the transport carriage.
  • the object detection device scans the light emitting element, the light receiving element, and the measurement light output from the light emitting element into space, and guides the reflected light from the object to the measurement light to the light receiving element.
  • Stores a distance calculation circuit that calculates the distance and direction to the object based on the physical relationship between the optical system, the measurement light output from the light emitting element, and the reflected light detected by the light receiving element, and a monitoring area.
  • An object determination circuit for determining whether or not the distance and direction to an object calculated by the distance calculation circuit are inside the monitoring area stored in the area storage circuit, and the object determination circuit.
  • a signal output circuit that outputs an object detection signal when it is determined that an object is inside the monitoring area, a distance calculation circuit, and an object determination circuit regardless of the intensity of the reflected light received by the light receiving element.
  • the first mode for operating the signal output circuit and when the intensity of the reflected light received by the light receiving element is equal to or higher than a predetermined threshold value, the distance calculation circuit, the object determination circuit, and the signal output circuit are operated.
  • the transport trolley is configured to include a mode switching circuit, and controls the traveling mechanism to travel toward a preset station, and based on an object detection signal output from the signal output circuit.
  • the mode switching circuit switches to the first mode
  • the distance calculation circuit, the object determination circuit, and the signal output circuit operate regardless of the intensity of the reflected light, and when an object is detected in the monitoring area, the object is detected from the signal output circuit.
  • a detection signal is output. Therefore, for example, a person who has entered the vicinity of the orbit can be reliably detected as an obstacle.
  • the distance calculation circuit, the object determination circuit, and the signal output circuit operate when the intensity of the reflected light received by the light receiving element is equal to or higher than a predetermined threshold value, and the light receiving element operates.
  • the intensity of the received reflected light is less than a predetermined threshold value
  • the operation of any of the distance calculation circuit, the object determination circuit, and the signal output circuit is blocked, so even if an object exists in the monitoring area, the light receiving element
  • An object detection signal is output from the signal output circuit only when the intensity of the received reflected light is equal to or higher than a predetermined threshold value, and if the intensity of the reflected light received by the light receiving element is less than the predetermined threshold value, the signal output circuit outputs the object detection signal. No object detection signal is output.
  • the reflected light from an object such as a safety fence whose intensity of the reflected light received by the light receiving element is less than a predetermined threshold value is excluded as noise.
  • the safety fence is close to each other along the track. It is easy to select an appropriate mode based on the traveling position, such as selecting the second mode at the traveling position and selecting the first mode at the traveling position where there is no safety fence and there is a risk of people entering. Will be able to.
  • the mode switching signal output circuit outputs a mode switching signal for switching to the second mode when the position information of the preceding transport carriage cannot be acquired. It is at the point of output.
  • the mode switching signal output circuit outputs a mode switching signal for switching to the second mode to the object detection device. Therefore, for example, even when traveling in a monitoring area that cannot be detected in the first mode, it becomes possible to avoid an unexpected collision accident.
  • the transport carriage further includes a traveling position monitoring circuit that monitors a traveling position along the track, and outputs the mode switching signal.
  • the circuit is configured to output a mode switching signal for switching the mode to either the first mode or the second mode to the mode switching circuit based on the traveling position monitored by the traveling position monitoring circuit.
  • a mode switching signal for switching between the first mode and the second mode is output from the mode switching signal output circuit to the mode switching circuit of the object detection device according to the traveling position monitored by the traveling position monitoring circuit provided on the transport carriage. Therefore, the object can be detected appropriately according to the traveling position, that is, the traveling environment.
  • the object detection device further comprises the object determination circuit from a plurality of monitoring areas stored in the area storage circuit.
  • the transport trolley further includes a region selection circuit for selecting a monitoring region to be determined, and the transport trolley further determines a monitoring region to be determined by the object determination circuit based on the traveling position monitored by the traveling position monitoring circuit. It is provided with a monitoring area selection signal output circuit that outputs a selected area selection signal to the area selection circuit.
  • the monitoring area to be judged by the object determination circuit provided in the object detection device can be switched to an appropriate monitoring area corresponding to the traveling position monitored by the traveling position monitoring circuit provided in the transport carriage.
  • the mode switching circuit is divided into either the first mode or the second mode for each monitoring region selected by the region selection circuit. The point is that it is configured to be switchable.
  • the mode switching circuit can switch to the first mode or the second mode for each monitoring area, it is possible to realize a highly flexible object detection system according to each monitoring area.
  • the mode switching signal output circuit has the mode for each monitoring region corresponding to the region selection signal output from the monitoring region selection signal output circuit. The point is that a mode switching signal for switching the mode to either the first mode or the second mode is output to the switching circuit.
  • a specific strong reflection sheet in which the intensity of the reflected light received by the light receiving element is equal to or higher than a predetermined threshold value is described.
  • a point that is arranged at the rear end of the transport trolley, is reflected from the strong reflection sheet provided on the preceding transport trolley in the second mode, and only the output received by the light receiving element is output to the distance calculation circuit. It is in.
  • the characteristic configuration of the transport trolley according to the present invention is that it is a transport trolley used in an object detection system having any of the above-mentioned first to seventh characteristic configurations.
  • the first characteristic configuration of the object detection device is an object detection device that detects an object based on the reflected light of the measurement light scanned in space, from a light emitting element, a light receiving element, and the light emitting element.
  • a scanning optical system that scans the output measurement light into space and guides the reflected light from an object to the measurement light to the light receiving element, the measurement light output from the light emitting element, and the reflected light detected by the light receiving element.
  • the distance calculation circuit that calculates the distance and direction to the object based on the physical relationship of the above, the area storage circuit that stores the monitoring area, and the distance and direction to the object calculated by the distance calculation circuit are the area storage.
  • An object determination circuit that determines whether or not the object is inside the monitoring area stored in the circuit, and a signal output that outputs an object detection signal when the object determination circuit determines that an object is inside the monitoring area.
  • the first mode for operating the circuit, the distance calculation circuit, the object determination circuit, and the signal output circuit regardless of the intensity of the reflected light received by the light receiving element, and the intensity of the reflected light received by the light receiving element.
  • the distance calculation circuit, the object determination circuit, and the signal output circuit are operated, and when the intensity of the reflected light received by the light receiving element is less than the predetermined threshold value, the distance calculation circuit, The point is that the object determination circuit and the mode switching circuit for switching to any of the second modes for blocking the operation of any of the signal output circuits are provided.
  • a plurality of monitoring areas are stored in the area storage circuit, and the object determination circuit is composed of a plurality of monitoring areas stored in the area storage circuit.
  • a region selection circuit for selecting a monitoring region to be determined is provided, and the mode switching circuit is configured to be switchable between the first mode and the second mode for each monitoring region selected by the region selection circuit. It is in the point that it is done.
  • the mode switching circuit is at the point of switching to the mode set in the monitoring area selected by the area selection circuit.
  • a plurality of monitoring areas stored in the area storage circuit are configured to be inputtable in advance from an external control device. There is a point.
  • an object detection system As described above, according to the present invention, an object detection system, a transport trolley, and an object detection capable of appropriately detecting a foreign substance while avoiding erroneous detection of a safety fence or equipment without narrowing the detection range. It has become possible to provide equipment.
  • FIG. 1A is a plan view of a physical distribution management system
  • FIG. 1B is an explanatory view of a transport carriage
  • FIG. 2 is an explanatory diagram showing a functional block of a control system for a transport carriage.
  • FIG. 3 is an explanatory view of the appearance of the object detection device.
  • FIG. 4 is a cross-sectional view of the object detection device.
  • FIG. 5 is an explanatory diagram showing a functional block of the object detection device.
  • FIG. 6A shows an explanatory diagram of the positional relationship between the object detection device and the reflective sheet when performing the reflected light intensity confirmation test
  • FIG. 6B shows the result of the reflected light intensity confirmation test and the first mode. It is explanatory drawing which shows the threshold value of the 2nd mode.
  • FIG. 6A shows an explanatory diagram of the positional relationship between the object detection device and the reflective sheet when performing the reflected light intensity confirmation test
  • FIG. 6B shows the result of the reflected light intensity confirmation test and the first mode. It is
  • FIG. 7 is an explanatory diagram of switching between the first mode and the second mode.
  • FIG. 8 is a flowchart illustrating a transport procedure.
  • FIG. 9 is a flowchart illustrating an object detection procedure.
  • FIG. 10 is a flowchart illustrating an object detection procedure showing another embodiment.
  • the distribution management facility 100 includes a track 1 composed of two rails laid on the floor of the building, and a plurality of vehicles traveling on the track 1. It is configured to include a carriage 2 and a plurality of stations 3 arranged along the track 1. In the track 1, to prevent accidents in which a person inadvertently approaches and comes into contact with the transport trolley 2, and to prevent the load from being scattered around even if the load collapses due to centrifugal force during curve driving.
  • a safety fence G is installed around the predetermined curved area.
  • the transport carriage 2 includes a frame F to which a pair of front and rear wheels W traveling on the track 1 are attached, a pallet mounting portion A provided on the frame F, and a pallet Pl mounted on the pallet mounting portion A. It is provided with a pair of chain-type conveyor mechanisms C and the like for moving the wheels to and from the station 3.
  • FIGS. 1 (b) and 1 (c) are schematic views, the wheels W are not drawn in a ring shape and are simplified unlike the actual case.
  • the conveyor belt 2 travels to a predetermined station 3 by communicating with the host controller HC (see FIG. 2) that controls the entire distribution management facility 100, and the load stored in the pallet Pl is loaded.
  • a transport control device 40 (see FIG. 2) to be transferred to and from the station 3, a traveling motor for driving the wheels W, a conveyor motor for driving the conveyor mechanism C in the forward and reverse directions, and the like are provided.
  • An object detection device 20 is attached to the front end side of the frame F in the traveling direction in the central portion in the width direction in a plan view (see FIG. 1C), and the width is in a plan view on the rear end side of the frame F.
  • Retroreflective sheets 2A and 2B which are strong reflective sheets, are provided at both ends in the direction, and a reflective plate 2C that diffusely reflects light is hung below the central portion in the width direction in a plan view (FIG. 1 (b)). reference.).
  • the strong reflective sheets 2A and 2B are used for detection during curve traveling and straight traveling, and the reflector 2C is used when the transport carriages are separated by a predetermined distance or more such as when traveling straight.
  • the strong reflection sheet 2A is arranged in a vertical posture so that the central region in the width direction is orthogonal to the extending direction of the orbit 1 so that the left curve can be reliably detected, and the lateral region is relative to the central region in the width direction. It is tilted 45 degrees in the extending direction of the orbit 1.
  • the strong reflection sheet 2B is arranged in a vertical posture so that the central region in the width direction is orthogonal to the extending direction of the orbit 1 so that it can be reliably detected by the right curve, and the side region is the central region in the width direction. It is tilted 45 degrees in the extending direction of the orbit 1.
  • FIG. 2 shows a plurality of functional blocks constituting the transport control device 40 provided on the transport carriage 2.
  • the transport control device 40 is composed of a microcomputer and peripheral circuits including a plurality of integrated circuits such as a CPU, a memory IC, a communication circuit, and an input / output circuit, and a control program stored in the memory IC is executed by the CPU.
  • each functional block is embodied as a circuit block.
  • the transfer control device 40 is output from a transfer control circuit 41 that controls the transfer carriage 2 in an integrated manner, a travel control circuit 42 that controls a travel motor based on a command from the transfer control circuit 41, and an encoder incorporated in the wheel W. It includes a traveling position monitoring circuit 43 that monitors a traveling position on an orbit based on a pulse signal, and a conveyor control circuit 44 that controls a conveyor motor.
  • the traveling position monitoring circuit 43 monitors and grasps the traveling position based on the track data stored in the track storage circuit 45 and the pulse signal from the encoder.
  • the initial position is configured to be graspable based on the position data received from the host controller HC and the output of the position sensor provided on the orbit 1.
  • a monitoring area selection signal output circuit 49 that outputs a monitoring area selection signal for selecting a monitoring area monitored by the object detection device 20 corresponding to the traveling position monitored by the traveling position monitoring circuit 43, and an object detection A mode switching signal output circuit 48 for outputting a mode switching signal for switching the mode of object detection executed by the device 20 is provided.
  • the mode switching signal output circuit 48 and the monitoring area selection signal output circuit 49 are configured in a logic circuit block constituting the transport control circuit 41.
  • the transport control circuit 41 is connected to a first communication interface 46 that wirelessly communicates with the host controller HC and a second communication interface 47 that communicates with the object detection device 20.
  • the standard of each communication interface is not particularly limited, and a general-purpose standard can be appropriately used.
  • the host controller HC individually wirelessly communicates with a plurality of transport carriages 2 traveling on the track 1, grasps the traveling position of each transport carriage 2, and transfers the load to and from the station 3. Instruct the trolley 2 to travel to the target station and instruct the transfer of luggage.
  • FIG. 3 shows the appearance of the object detection device 20, and FIG. 4 shows the internal structure of the object detection device 20.
  • the object detection device 20 includes a substantially rectangular parallelepiped lower casing 20A and an upper casing 20B provided with a substantially cylindrical optical window 20C.
  • the lower casing 20A is provided with a signal connection portion CN and a display portion 20D.
  • a light emitting element 21 As shown in FIG. 4, inside the casings 20A and 20B of the object detection device 20, a light emitting element 21, a light receiving element 22, a scanning optical system 23, a light projecting lens 24, a light receiving lens 25, and signal processing
  • the substrates 30 and 31 are housed.
  • the scanning optical system 23 is composed of a motor 50 installed on the inner wall of the upper surface of the upper casing 20B and a deflection mirror 52 rotatably fixed to the rotating shaft 51 of the motor 50 so as to be integrally rotatable with the motor 50.
  • the deflection mirror 52 is set at an inclination angle of 45 degrees with respect to the rotation shaft 51, and the rotation shaft 51 is further provided with an encoder 53 for measuring the rotation speed of the motor 50.
  • the encoder 53 functions as a scanning angle detection unit for the measurement light.
  • the light receiving lens 25 and the light receiving element 22 are positioned in the vertical direction on the optical axis P coaxial with the rotating shaft 51 of the motor 50 arranged in a vertical position and on the opposite side of the motor 50 with the deflection mirror 53 in between. Are arranged differently.
  • a cylindrically cut-out opening is formed in the center of the light receiving lens 25, a light emitting element 21 is arranged at the lower end of the opening, and a light projecting lens 24 is arranged above the light emitting element 21.
  • the measurement optical path L1 that rotates integrally with the deflection mirror 52 and guides the measurement light deflected by the deflection mirror 52 to the measurement target space, and the reflected light path L2 that deflects the reflected light by 52 with the deflection mirror and guides it to the light receiving element 22.
  • the partitioning optical guide portion 54 is fixed to the deflection mirror 52 so as to rotate integrally with the deflection mirror 52.
  • the light emitting element 21 is composed of a laser diode having an infrared wavelength and mounted on a cantilevered substrate.
  • the coherent measurement light emitted from the laser diode is shaped into parallel light by the light projecting lens 24, is incident on the deflection mirror 52 along the optical axis P, is deflected by 90 degrees, and then is an optical guide portion along the optical axis P1.
  • the space to be measured is irradiated from the optical window 20C via the measurement optical path L1 in the inner region partitioned by 54.
  • the surface of the object existing in the measurement target space is irradiated with the measurement light, and a part of the reflected light passes through the reflected light path L2 in the outer region partitioned by the optical guide portion 54 from the optical window 20C along the optical axis P1. Then, it is incident on the deflection mirror 52, is deflected by 90 degrees by the deflection mirror 52, is condensed by the light receiving lens 25, and is incident on the light receiving element 22.
  • the light receiving lens 25 has a flange portion formed around the peripheral portion supported by the lens holder 26, and the lens holder 26 supports a substrate constituting the light emitting element 21. Further, the substrate on which the light receiving element 22 is mounted and the signal processing substrates 30 and 31 are supported by a plurality of legs 27 that support the lens holder 26.
  • the signal processing board 30 is provided with a control device 80 (see FIG. 5) for controlling the object detection device 20, and the signal processing board 31 is an LED or a liquid crystal display element for displaying various information on the display unit 20D. Is mounted.
  • the signal processing board 30, the light emitting element 21 and the light receiving element 22 are connected to each other by a signal line, and a signal is transmitted from the signal processing board 30 to the transport control device 40 of the transport carriage via the signal connection portion CN provided in the lower casing 20A.
  • the signal cable for sending and receiving is extended.
  • FIG. 5 shows the functional block configuration of the control device 80.
  • the control device 80 is configured to include a plurality of integrated circuits such as a microcomputer equipped with a CPU, a memory IC, and a digital signal processor, and input / output peripheral circuits. By executing the control program stored in the memory IC by the CPU, a plurality of circuit blocks that embody the desired functions are configured.
  • control device 80 includes the scanning control circuit 81, the light emission control circuit 82, the distance calculation circuit 83, the area storage circuit 84, the object determination circuit 85, the signal output circuit 86, the mode switching circuit 87, and the area.
  • a plurality of circuit blocks such as a selection circuit 88 and a switch circuit 89 are provided.
  • the scanning control circuit 81 is a circuit block that drives the motor 50 based on the scanning angle detected by the scanning angle detecting element 53 and controls the rotation of the scanning optical system 23 at a predetermined rotation speed.
  • the light emission control circuit 82 is a circuit block that controls the light emission timing of the light emitting element 21 based on the scanning angle.
  • the distance calculation circuit 83 calculates the physical relationship between the measurement light scanned by the scanning optical system 23 and the reflected light from the object, that is, the distance to the detected object from the time difference or phase difference between the measurement light and the reflected light.
  • the circuit block that specifies the scanning angle at that time as the direction of the object, and the area storage circuit 84 is a circuit block that stores the monitoring area.
  • the object determination circuit 85 is a circuit block that determines whether or not the distance and direction to the object calculated by the distance calculation circuit 83 are inside the monitoring area stored in the area storage circuit 84, and the signal output circuit 86 is This is a circuit block that outputs an object detection signal when it is determined by the object determination circuit 85 that an object is inside the monitoring area.
  • the mode switching circuit 87 is a circuit block that switches the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 to either the first mode or the second mode.
  • the first mode is a mode in which the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 are operated regardless of the intensity of the reflected light received by the light receiving element 22.
  • the second mode when the intensity of the reflected light received by the light receiving element 22 is equal to or higher than a predetermined threshold value, the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 are operated, and the light is received by the light receiving element 22. This mode prevents the operation of any of the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 when the intensity of the reflected light is less than a predetermined threshold value.
  • the switch circuit 89 outputs an output signal from the light receiving element 22 to the distance calculation circuit 83 regardless of the intensity of the reflected light when the first mode is selected, and the intensity of the reflected light when the second mode is selected. Outputs the output signal from the light receiving element 22 to the distance calculation circuit 83 only when is equal to or more than a predetermined threshold value, and is sent to the distance calculation circuit 83 of the output signal from the light receiving element 22 when the intensity of the reflected light is less than the predetermined threshold value. It is a circuit block that blocks the input of.
  • the switch circuit 89 blocks the input of the reflected signal to the distance calculation circuit 83. Therefore, all of the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86. Is configured to not work.
  • the selected mode of the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 is the first mode or the second mode without providing the switch circuit 89. It may be configured to perform the desired operation based on the judgment.
  • the reflected signal corresponding to the reflected light received by the light receiving element 22 is input to the distance calculation circuit 83, and the intensity of the reflected signal is determined when the distance and direction to the object are calculated by the distance calculation circuit 83. It may be determined whether or not it is equal to or greater than the threshold value of, and at that time, the determination result may be output to each of the object determination circuit 85 and the signal output circuit 86.
  • the method of calculating the distance based on the time difference between the measured light and the reflected light is called the TOF method, and the distance d is calculated by the following mathematical formula 1.
  • C is the speed of light and ⁇ T is the time difference.
  • [Equation 1] d (1/2) ⁇ C / ⁇ T
  • the method of calculating the distance based on the phase difference between the measured light obtained by AM-modulating the light source at a predetermined modulation frequency and the reflected light is called the AM method, and the distance d is calculated by the following mathematical formula 2.
  • ⁇ is the measured phase difference
  • C is the speed of light
  • F is the modulation frequency of the light source.
  • the distance calculation circuit 83 is provided with a correction calculation circuit for correcting an error caused by component variation of the object detection device 20, and a reference reflection plate 55 provided on a part of the inner wall of the upper casing 20B (FIG. 4).
  • the correction coefficient is obtained so that the distance calculated based on the reflected light from (see) is a predetermined distance, and the value calculated by the above equation corrected by the correction coefficient is output.
  • the description will be continued by taking the case where the TOF method is adopted as an example, but the same applies to the case where the AM method is adopted.
  • the object determination circuit 85 determines whether or not an object is located inside the monitoring area stored in the area storage circuit 84 based on the distance and direction output from the distance calculation circuit 83, and determines whether or not the object is located inside the monitoring area. When it is determined that the object is located, a signal to that effect is output to the transport control circuit 41 via the signal output circuit 86.
  • FIG. 1A there are three monitoring regions R1 (Ra, Rb, and Rc in order from the side closer to the transport carriage 2) set on the transport carriage 2 traveling on the straight line portion of the track 1. ) Is shown by a broken line, and the monitoring area R2 set in the transport carriage 2 traveling on the curved portion of the track 1 is shown by the broken line.
  • the signal output circuit 85 outputs a signal indicating a stop command to the transport control circuit 41 when an obstacle is detected in the region Ra during straight running, and outputs a signal indicating a deceleration command to the transport control circuit 41 when an obstacle is detected in the region Rb.
  • a signal indicating a warning command is output to the transport control circuit 41.
  • the transport control circuit 41 that has received the warning command for example, travels at a constant speed without accelerating.
  • the signal output circuit 85 detects an obstacle in the region R2 while traveling on a curve, the signal output circuit 85 outputs a signal indicating a stop command to the transport control circuit 41.
  • the monitoring area R1 When traveling in a straight line running at high speed, when an obstacle is detected, the monitoring area R1 is secured sufficiently far along the traveling direction in order to secure a sufficient time from deceleration to stop. Further, when traveling on a curve traveling at a low speed, a wide monitoring area R2 is secured in the width direction intersecting the traveling direction so as not to lose sight of the vehicle traveling ahead. That is, based on the area selection signal transmitted from the transport carriage 2 according to the traveling position of the transport carriage 2, a monitoring area suitable for the transport environment is appropriately selected from the plurality of monitoring areas stored in the area storage circuit 84. ..
  • the monitoring area selection signal output circuit 49 provided in the transport control circuit 41 issues a monitoring area selection command to switch to an appropriate monitoring area based on the traveling position information grasped by the traveling position monitoring circuit 43 of the transport carriage 2.
  • the area selection circuit 88 reads out the monitoring area corresponding to the monitoring area selection signal from the plurality of monitoring areas stored in advance in the area storage circuit 84, and is an obstacle determination target. It is configured to be used as a monitoring area.
  • monitoring areas set there are two types of monitoring areas set, R1 and R2, but it is possible to set a plurality of types of monitoring areas according to the shape of the track 1 and the equipment status.
  • a monitoring area extended in the traveling direction is set, and when the speed of the transport trolley 2 is relatively slow and the vehicle travels in an open space, the direction perpendicular to the traveling direction ( It is possible to set a monitoring area that extends in the width direction). That is, it is possible to switch the monitoring area according to the speed of the transport carriage 2. In that case, it is possible to switch to a more appropriate monitoring area based on the traveling position information grasped by the traveling position monitoring circuit 43 of the transport carriage 2.
  • the safety fence G installed in the curved area of the track 1 is included in the monitoring area R2, and the safety fence G is mistakenly recognized as an obstacle and stopped at the traveling carriage 2. There is a risk of outputting a command.
  • the monitoring area R2 is set to a narrow monitoring area so that the safety fence G is not included, the detection of the preceding transport trolley 2 may be delayed and the collision may not be avoided.
  • the mode switching circuit 87 described above is provided so as to be able to do so.
  • General equipment that can be excluded from the monitoring target such as the safety fence G installed near the orbit 1, has its surface composed of a light scattering surface or a light absorbing member that attenuates the reflected light intensity. It may be configured as follows.
  • the mode switching circuit 87 switches to the first mode
  • the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 operate regardless of the intensity of the reflected light received by the light receiving element 22.
  • the result is output from the signal output circuit 86.
  • the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 operate when the intensity of the reflected light received by the light receiving element 22 is equal to or higher than a predetermined threshold value.
  • the intensity of the reflected light received by the light receiving element 22 is less than a predetermined threshold value, the operation of any of the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 is blocked.
  • the result is output from the signal output circuit 86, and the intensity of the reflected light is less than the predetermined threshold value. If so, the object detection signal is not output from the signal output circuit 86 even if the object exists in the monitoring area.
  • the intensity of the signal detected by the light receiving element 22 and the reflected light reflected by the retroreflective sheets 2A and 2B installed on the carrier 2 are received by the reflected light reflected by the light scattering surface such as the safety fence G.
  • a comparator that separates the signal strength detected by the element 22 from the signal strength can be used as the switch circuit 89.
  • the comparator outputs the reflected signal corresponding to the reflected signal from the retroreflective sheets 2A and 2B higher than the predetermined threshold voltage to the distance calculation circuit 83, and the reflected signal from the light scattering surface lower than the predetermined threshold voltage.
  • the reflected signal corresponding to is blocked.
  • an analog switch that passes a signal corresponding to the reflected light detected by the light receiving element 22 when it is higher than a predetermined threshold voltage and cuts off the signal when it is lower than a predetermined threshold voltage. It is also possible to use the circuit 89.
  • the former is suitable when the TOF method is adopted, and the latter is suitable when the AM method is adopted.
  • the mode switching signal output circuit 48 provided in the transport carriage 2 switches the mode to either the first mode or the second mode in the mode switching circuit 87 based on the traveling position monitored by the traveling position monitoring circuit 43. Output a signal.
  • the monitoring area selection signal output circuit 49 provided in the transport carriage 2 outputs a monitoring area selection signal to the area selection circuit 88 based on the traveling position monitored by the traveling position monitoring circuit 43, and stores the monitoring area selection signal in the area storage circuit 84.
  • a monitoring area to be determined by the object determination circuit 85 is designated from a plurality of monitoring areas.
  • the monitoring area is switched to R2 when traveling on a curve, the first mode is switched to the second mode, the monitoring area is switched to R1 when traveling straight, and the second mode is switched to the first mode. .. That is, the first mode and the second mode are switched in synchronization with the switching of the monitoring area.
  • the mode switching circuit 87 is configured to be switchable between the first mode and the second mode for each monitoring area selected by the area selection circuit 88. Further, the mode switching signal output circuit 48 switches the mode to either the first mode or the second mode in the mode switching circuit 87 for each monitoring area corresponding to the area selection signal output from the monitoring area selection signal output circuit 49. Outputs a mode switching signal.
  • the monitoring area is set in advance to be stored in the area storage circuit 84 via an external device, and the number of areas can be set to be stored in a sufficient number according to the storage capacity.
  • the first mode or the second mode can be assigned in association with each monitoring area, and it is also possible to configure so that the mode switching setting is performed at the same time as the monitoring area is switched and set. In this case, it is not necessary to operate the mode switching signal output circuit 48.
  • FIG. 1 only one area is set as the monitoring area R2, but similarly to the monitoring area R1, a plurality of monitoring areas such as R2a, R2b, and R2c are set in the order of proximity to the transport carriage 2, and each of them is set.
  • the object detection signals corresponding to the monitoring areas R2a, R2b, and R2c of the above may be output as output 1, output 2, and output 3.
  • the traveling control circuit 42 provided in the transport carriage 2 performs emergency stop control corresponding to output 1, deceleration control corresponding to output 2, and warning control (not accelerating, etc.) corresponding to output 3.
  • the first mode and the second mode may be set individually for each of the regions R2a, R2b, and R2c.
  • the monitoring areas R1 and R2 are switched and the operation of the mode switching circuit 87 to be switched in synchronization. This is because even in the same monitoring area, it may be necessary to switch between the first mode and the second mode depending on the traveling position and traveling speed of the transport carriage 2. Further, the monitoring area is switched at the traveling position of the transport carriage 2, but this is also not essential.
  • the mode switching signal output circuit 48 provided in the transport carriage 2 is configured to output a mode switching signal for switching to the second mode when the position information of the preceding transport carriage cannot be acquired. ing.
  • the host controller HC communicates with each transport trolley and is configured to be able to grasp at which position of the track 1 the transport trolley is traveling. Therefore, normally, the position information of another transport carriage traveling ahead of the transport carriage 2 is grasped by the host controller HC, and the inter-vehicle distance between the transport carriages is adjusted in advance to control the traveling.
  • the order of the transport trolleys cannot be grasped until the traveling position of the transport trolleys is grasped at the time of system startup. Further, if a travel command is output to another transport trolley when an abnormality occurs in the transport trolley and communication cannot be performed, there is a risk of causing an unexpected situation such as a collision accident.
  • the mode of the transport trolley is switched by instructing the transport trolley that will travel behind it to switch to the second mode.
  • a mode switching signal for switching to the second mode is output from the signal output circuit 48 to the object detection device 20, which makes it possible to avoid an unexpected collision accident.
  • the transport carriage traveling behind is configured to travel at a traveling speed lower than the normal traveling speed.
  • the number of the transport trolley traveling in front is determined until the order of the transport trolleys to be grasped by the host controller HC is determined.
  • the current position of the transport trolley becomes unknown, or when the power supply of the transport trolley traveling in front is lost.
  • FIG. 6A when the scanning direction angle ⁇ 2 of the measurement light of the object detection device 20 and the angle ⁇ 1 formed by the plane perpendicular to the optical axis of the measurement light and the reflection sheet are different from each other, 2
  • the characteristics of the reflected light intensity detected by the light receiving element 22 with respect to the types of reflective sheets (retroreflective sheet and light scattering reflective sheet) are shown in FIG. 6 (b).
  • White Kent paper is used as the light scattering reflection sheet.
  • the case where the scanning direction of the measurement light is along the linear traveling direction of the carrier 2 is 0 degree, and the angle ⁇ 1 is set with respect to the scanning direction angle ⁇ 2 of 45 degrees and 90 degrees to the left and right, respectively. This is a characteristic when changed in the range of ⁇ 45 degrees.
  • white circles indicate the characteristics of the retroreflective sheet
  • black circles indicate the characteristics of the light scattering reflective sheet.
  • the distance between the retroreflective sheet and the object detection device 20 is set to 1500 mm and 300 mm, and the distance between the light scattering reflection sheet and the object detection device 20 is set to 300 mm.
  • the reflected light intensity for the light scattering reflective sheet is sufficiently higher than the reflected light intensity for the retroreflective sheet installed at a distance of 1500 mm even when installed in the vicinity of a distance of 300 mm.
  • a predetermined threshold value as shown by a broken line between the two, it is shown that the two can be distinguished from each other in the range of the separation distance from the object detection device 20 from 300 mm to 1500 mm. That is, by adopting the second mode of detecting only the reflected light above the predetermined threshold, the influence of the light scattering reflector such as the safety fence G can be eliminated, and all the reflected light including the reflected light below the predetermined threshold can be eliminated.
  • the first mode for detecting obstacles all reflected light can be utilized for obstacle detection.
  • FIG. 7 the installation heights of the reflective sheets 2A and 2B installed on the rear surface side of the transport carriage 2 traveling forward and the reflecting plate 2C for light scattering and the traveling from the rear are shown with reference to the rail surface of the track 1.
  • the scanning surface is tilted 3 degrees downward with respect to the horizontal plane so that the measurement light of the object detection device 20 installed on each transport carriage 2 is not detected as stray light. Therefore, the measurement light shifts below the horizontal plane as the vehicle spacing increases.
  • the angle of inclination of the scanning surface with respect to the horizontal plane is not particularly limited.
  • D1 is the distance at which object detection in the second mode is possible due to the specifications.
  • D3 is a distance required to detect the preceding transport carriage in the normal traveling area such as when traveling in a straight line, and the object is detected in the first mode.
  • the transport carriage travels at a lower speed in the curved area, so the relationship is generally D1 ⁇ D3.
  • the relationship is generally D1 ⁇ D3.
  • the retroreflective sheets 2A and 2B attached to the rear of the transport trolley are irradiated with the measurement light within the inter-vehicle distance D1 so that the preceding transport trolley can be detected within the inter-vehicle distance D1, and the reflected light is applied to the object detection device 20. Installed at a detected height.
  • the reflector is set to a height at which the reflected light can be reliably detected by the object detection device even when the distance between vehicles is far from D2 so that the preceding transport trolley is reliably detected even when the distance between vehicles is far from D2. 2C is provided.
  • the detection range of the second mode is from D1 to D0 because the reflected light intensity of the reflected light from a normal scattered light reflector such as white Kent paper and the retroreflective sheet is close to the extent that it is difficult to separate.
  • D3 is the maximum distance at which an object can be detected, which is determined by the performance of the object detection device, and when the first mode is set, the object can be detected within the distance of D3.
  • D0 300 mm
  • D1 1500 mm
  • D2 1900 mm
  • D3 ⁇ 5500 mm D0 and D1 are determined from the evaluation results of FIG. 6, and are appropriately determined in consideration of the performance of the object detection device, the performance of the retroreflective plate, and the like.
  • FIG. 8 shows a transfer control processing procedure executed by the transfer control device 40.
  • the travel control circuit 42 drives the travel motor to control the travel toward the target station 3. Is done (SA2).
  • the traveling position is monitored by the traveling position monitoring circuit 43 along with the traveling (SA3), and when traveling in a straight line, the object detection device 20 is instructed to set the monitoring area for straight traveling and detect an obstacle in the first mode. Is output, and when the vehicle enters the curve travel, a command is output to the object detection device 20 so as to set the monitoring area for the curve travel and detect an obstacle in the second mode (SA4).
  • the monitoring area selection command is output to the object detection device 20. It may be configured so that the first mode / the second mode is automatically selected and set.
  • FIG. 9 shows a processing procedure of the control device 80 of the object detection device 20.
  • the scanning motor 50 is started to rotate and control the rotation at a predetermined target speed based on the encoder pulse which is the output of the scanning angle detection element 53, and when the predetermined scanning angle is reached based on the encoder pulse, the light emitting element 21 is driven. And outputs pulsed light (SB1).
  • the processes of steps SB1 to SB3 are repeated until the reflected light having an intensity equal to or higher than a predetermined threshold value is detected, and if the second mode is not selected (SB2, Y). SB2, N), the processes of steps SB1 to SB4 are repeated until some reflected light is detected.
  • the distance / direction to the object is calculated (SB5), and it is determined whether or not the calculated distance / direction is inside the monitoring area (SB6).
  • an obstacle detection signal is output to the transport carriage 2 (SB7).
  • the processing of the second mode selection and the threshold value determination SB2, SB3, and SB4 is executed between SB1 and SB5, but is executed between SB6 and SB7. You may. Further, in FIG. 9, the mode is determined and the object is determined for each scanning angle. However, after all the measurement distances, scanning angles, and reflected light intensities within a predetermined scanning angle range are temporarily stored in the storage device, the SB2 is used. It may be configured to execute SB7.
  • the contents and order of processing are not particularly limited to the above.
  • FIG. 10 shows a procedure of the object detection process executed in units of the scanning cycle of the measurement light.
  • the case where the area set as the monitoring area is divided into n areas instead of only one area is shown.
  • n 3.
  • the distance calculation circuit, the object determination circuit, and the signal output circuit are operated regardless of the intensity of the reflected light received by the light receiving element 22, but noise can be removed.
  • noise can be removed.
  • the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 all operate in the first mode, and all do not operate in the second mode.
  • any one of the distance calculation circuit 83, the object determination circuit 85, and the signal output circuit 86 may be switched to non-operation.
  • the object detection system includes a transport carriage provided with a traveling mechanism that travels along a predetermined track, and an object detection device mounted on the transport carriage. It is a system.
  • the object detection device is composed of a light emitting element, a light receiving element, a scanning optical system that scans the measurement light output from the light emitting element into space and guides the reflected light from the object to the light receiving element, and the light emitting element.
  • a distance calculation circuit that calculates the distance and direction to an object based on the physical relationship between the output measurement light and the reflected light detected by the light receiving element, an area storage circuit that stores the monitoring area, and a distance calculation circuit.
  • a signal output circuit that outputs an object detection signal, a first mode that operates a distance calculation circuit, an object determination circuit, and a signal output circuit regardless of the intensity of the reflected light received by the light receiving element, and light received by the light receiving element.
  • the distance calculation circuit, the object determination circuit and the signal output circuit are operated, and when the intensity of the reflected light received by the light receiving element is less than the predetermined threshold, the distance calculation circuit and the object It is configured to include a mode switching circuit for switching to either a second mode for blocking the operation of either the determination circuit or the signal output circuit.
  • the transport carriage controls the traveling mechanism to control traveling toward a preset station, and also switches between modes and a traveling control circuit that controls deceleration or stop based on an object detection signal output from the signal output circuit.
  • the circuit is provided with a mode switching signal output circuit that outputs a mode switching signal for switching to either the first mode or the second mode.
  • the mode switching signal output circuit is configured to output a mode switching signal for switching to the second mode when the position information of the preceding transport carriage cannot be acquired.
  • the transport carriage further includes a traveling position monitoring circuit that monitors the traveling position along the track, and the mode switching signal output circuit is a first mode in the mode switching circuit based on the traveling position monitored by the traveling position monitoring circuit. It is configured to output a mode switching signal for switching between the mode and the second mode.
  • the object detection device further includes an area selection circuit that selects a monitoring area to be determined by the object determination circuit from a plurality of monitoring areas stored in the area storage circuit, and the transport trolley is further monitored by the traveling position monitoring circuit. It is provided with a monitoring area selection signal output circuit that outputs a region selection signal for selecting a monitoring area to be determined by the object determination circuit to the area selection circuit based on the determined traveling position.
  • the mode switching circuit is configured to be switchable between the first mode and the second mode for each monitoring area selected by the area selection circuit.
  • the mode switching signal output circuit outputs a mode switching signal for switching the mode to either the first mode or the second mode to the mode switching circuit for each monitoring area corresponding to the area selection signal output from the monitoring area selection signal output circuit. It is configured to do.
  • a specific strong reflection sheet in which the intensity of the reflected light received by the light receiving element is equal to or higher than a predetermined threshold value is arranged at the rear end of the transport trolley, and in the second mode, the strong reflection sheet provided on the preceding transport trolley is provided. It is configured so that only the output reflected from the light receiving element and received by the light receiving element is output to the distance calculation circuit.

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PCT/JP2020/003138 2019-03-25 2020-01-29 物体検出システム、搬送台車及び物体検出装置 WO2020195128A1 (ja)

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KR1020217030119A KR102853647B1 (ko) 2019-03-25 2020-01-29 물체 검출 시스템, 반송 대차, 및 물체 검출 장치
CN202080021577.4A CN113597588B (zh) 2019-03-25 2020-01-29 物体检测系统、输送台车以及物体检测装置
US17/440,810 US12298407B2 (en) 2019-03-25 2020-01-29 Object detection system, transport vehicle, and object detection device
EP20778989.2A EP3979030A4 (en) 2019-03-25 2020-01-29 OBJECT DETECTION SYSTEM, TRANSPORT VEHICLE AND OBJECT DETECTION DEVICE

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US20230408689A1 (en) * 2022-06-15 2023-12-21 Datalogic IP Tech, S.r.l. Optical detection of objects having irregular surfaces
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TW202101146A (zh) 2021-01-01
JP7539060B2 (ja) 2024-08-23
US20220187467A1 (en) 2022-06-16
CN113597588A (zh) 2021-11-02
CN113597588B (zh) 2024-05-28
EP3979030A1 (en) 2022-04-06
KR20210144709A (ko) 2021-11-30

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